Method for moving tip of line-like object, controller, and three-dimensional camera
AssigneeKurashiki Boseki Kabushiki Kaisha
InventorMotoyoshi Kitai
Life of this patent
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Abstract
The present method for moving a tip of a line-like object is a method for moving a tip of a line-like object grasped by a robot hand to a target position, the method including: measuring a position of the tip of the line-like object grasped by the robot hand; and moving the tip to the target position based on the measured position of the tip.
Claims5
A method for moving a tip of a line-like object grasped by a robot hand to a target position, wherein the target position is a hole, and the line-like object has a curved tip, the method comprising:
- measuring a position of the tip of the line-like object grasped by the robot hand and measuring an orientation of the tip;
- moving the tip to the target position based on the measured position of the tip;
- matching the orientation of the tip with a direction of a central axis the hole based on the measured orientation of the tip;
- and
- inserting the tip into the hole by moving the tip along the direction of the central axis of the hole with the orientation of the tip matched with the direction of the central axis of the hole.
A controller for controlling movement of a line-like object to a target position by a robot hand provided in a robot, wherein
- the target position is a hole,
- the line-like object has a curved tip,
- the controller is configured to obtain a three-dimensional shape of the line-like object from a three-dimensional camera that obtains the three-dimensional shape of the line-like object,
- the controller is configured to obtain a position of a tip of the line-like object and an orientation of the tip from the three-dimensional shape, and
- the controller is configured to notify, to the robot having the robot hand, information for inserting the tip into the hole which comprises matching the orientation of the tip with a direction of a central axis of the hole, moving the tip to the central axis of the hole, and moving the tip along the direction of the center axis of the hole with the orientation of the tip matched with the direction of the central axis of the hole based on the position of the tip of the line-like object and the orientation of the tip.
Dependencies are inferred from the claim text.